Whole body movement planning method and system of robot

Abstract

The invention provides a whole body movement planning method and system of a robot, and relates to the technical field of robot movement planning. The whole body movement planning method comprises thesteps of receiving a control instruction containing an operating target; establishing a movement plan according to the current gesture of the movable robot and the operating target; respectively calculating associated values between the movement plan and all intelligent processing models, and arranging the associated values in sequence from big to small so as to form an associated value queue; performing state feasibility inspection on the standard movement plan associated with the intelligent processing model which corresponds to the foremost associated value in the associated value queue soas to obtain a feasibility inspection result; and obtaining the whole body movement planning information of the movable robot according to the movement plan, the intelligent processing model and thefeasibility inspection result, wherein the movable robot performs the corresponding movement according to the whole body movement planning information so as to realize the operating target. Accordingto the whole body movement planning method, the whole body movement planning information obtained by study is stored as a new intelligent processing model, so that the whole body movement planning efficiency is effectively improved, and the applicability is high.

Description

technical field [0001] The invention relates to the technical field of robot motion planning, in particular to a method and system for robot whole body motion planning. Background technique [0002] In recent years, the focus of robot research is to learn some human-like skills through observation, training, and teaching, such as walking, grasping objects, and even falling, to enhance the behavior of robots. In daily life, the same behavior of robots Different application scenarios only have different planning goals. The general planning goal is the end trajectory. For example, in the behavior of grasping objects, the difference is only the planning of the end trajectory of the grasping hand. In order to achieve more complex actions, the whole body motion generation is introduced into the robot movement. In planning. The planning of the whole body movement needs to comprehensively consider the real-time posture of the robot and the difference in the environment for intellig...

AI Technical Summary

Problems solved by technology

The planning of the whole body movement needs to comprehensively consider the real-time posture of the robot and the difference in the environment for intelligent planning. In the existing technology, the whole body movement planning can be carried out through the offline empirical model, but the offline empirical model depends on the external environment, and its applicability is not strong. Online planning can also be used, but the way to complete online planning has high communication requirements and a large amount of data calculation

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